umidi

umidi is a GPLed multiplatform URBI to MIDI bridge. It takes imput from a MIDI source, and outputs URBI commands based on those inputs. It is highly configurable, from a configuration file or directly from URBI.
Main intended use is to program robot dances and other movement sequences using MIDI sequencers on URBI-enabled robots.
Main features:
- Exposes MIDI tempo and current clock tick as URBI variables.
- Configurable mapping from MIDI notes to Urbi variable, event and tags.
- Mapping entries can be added dynamically from URBI.
- Each mapping can filter on channel number, pitch/controler value, and an internal parameter value, that can be set by another mapping or from Urbi.
- Supports multiple robots. Each mapping can specify a bitMask of the connected robots the commands will be sent to.